Foot-mounted Inertial Pedestrian-Positioning Systems (FIPPSs) based on Micro Inertial Measurement Units (MIMUs), have recently attracted widespread attention with the rapid development of MIMUs. The can be used in challenging environments such as firefighting and the military, even without augmenting with Global Navigation Satellite System (GNSS). Zero Velocity Update (ZUPT) provides a solution for the accumulated positioning errors produced by the low precision and high noise of the MIMU, however, there are some problems using ZUPT for FIPPS, include fast-initial alignment and unobserved heading misalignment angle, which are addressed in this paper. Our first contribution is proposing a fast-initial alignment algorithm for foot-mounted inertial/magnetometer pedestrian positioning based on the Adaptive Gradient Descent Algorithm (AGDA). Considering the characteristics of gravity and Earth's magnetic field, measured by accelerometers and magnetometers, respectively, when the pedestrian is standing at one place, the AGDA is introduced as the fast-initial alignment. The AGDA is able to estimate the initial attitude and enhance the ability of magnetic disturbance suppression. Our second contribution in this paper is proposing an inertial/magnetometer positioning algorithm based on an adaptive Kalman filter to solve the problem of the unobserved heading misalignment angle. The algorithm utilizes heading misalignment angle as an observation for the Kalman filter and can improve the accuracy of pedestrian position by compensating for magnetic disturbances. In addition, introducing an adaptive parameter in the Kalman filter is able to compensate the varying magnetic disturbance for each ZUPT instant during the walking phase of the pedestrian. The performance of the proposed method is examined by conducting pedestrian test trajectory using MTi-G710 manufacture by XSENS. The experimental results verify the effectiveness and applicability of the proposed method.
Keywords: MIMU; fast-initial alignment; foot-mounted; heading misalignment angle estimation; pedestrian position.